U.S. patent application number 16/455812 was filed with the patent office on 2019-10-17 for master control system for satellite image processing.
The applicant listed for this patent is Huazhong University of Science and Technology. Invention is credited to Zongyang CUI, Mingming QUE, Shoukui YAO, Lei ZHANG, Tianxu ZHANG, Yutian ZHOU.
Application Number | 20190316908 16/455812 |
Document ID | / |
Family ID | 59117621 |
Filed Date | 2019-10-17 |
United States Patent
Application |
20190316908 |
Kind Code |
A1 |
ZHANG; Tianxu ; et
al. |
October 17, 2019 |
MASTER CONTROL SYSTEM FOR SATELLITE IMAGE PROCESSING
Abstract
A master control system for a remote-sensing satellite image
processing device, the system including: a master control
management module, a first FPGA module, and a second FPGA module.
The master control management module is in connection and
communication with the first FPGA module, the second FPGA module,
and a housekeeping computer. The first FPGA module is in connection
and communication with the second FPGA module and a remote-sensing
satellite image processing device. The master control management
module is adapted to perform assignment of tasks. The first FPGA
module is adapted to communicate with a processor in the satellite
image processing device, monitor an operation state of the
satellite image processing device, send the operation state
information to the master control management module, receive a task
assignment command issued by the master control management module,
and transmit the task assignment command to the satellite image
processing device.
Inventors: |
ZHANG; Tianxu; (Wuhan,
CN) ; ZHOU; Yutian; (Wuhan, CN) ; CUI;
Zongyang; (Wuhan, CN) ; ZHANG; Lei; (Wuhan,
CN) ; YAO; Shoukui; (Wuhan, CN) ; QUE;
Mingming; (Wuhan, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Huazhong University of Science and Technology |
Wuhan |
|
CN |
|
|
Family ID: |
59117621 |
Appl. No.: |
16/455812 |
Filed: |
June 28, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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PCT/CN2017/077098 |
Mar 17, 2017 |
|
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16455812 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64G 1/361 20130101;
G01S 3/7867 20130101; B64G 1/1021 20130101; G01C 21/24 20130101;
G06F 9/4881 20130101; G06K 9/0063 20130101; G01C 21/025 20130101;
G06F 9/3877 20130101; G01S 3/781 20130101; G01S 5/163 20130101;
G06F 9/5011 20130101; G05B 19/0423 20130101; G05B 2219/25257
20130101 |
International
Class: |
G01C 21/02 20060101
G01C021/02; G01C 21/24 20060101 G01C021/24; B64G 1/36 20060101
B64G001/36; G06K 9/00 20060101 G06K009/00; G01S 3/781 20060101
G01S003/781; G06F 9/48 20060101 G06F009/48; G06F 9/38 20060101
G06F009/38 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 31, 2016 |
CN |
201611268699.5 |
Claims
1. A system, comprising: a master control management module, a
first field programmable gate array (FPGA) module, and a second
FPGA module; wherein: the master control management module is in
connection and communication with the first FPGA module, the second
FPGA module, and a housekeeping computer; the first FPGA module is
in connection and communication with the second FPGA module and a
remote-sensing satellite image processing device; the master
control management module is adapted to perform assignment of
tasks, the tasks comprising state monitoring of the remote-sensing
satellite image processing device, state feedback of the
remote-sensing satellite image processing device, command receiving
and parsing, fault-tolerance emergency processing, region division
and temporal phase determination, satellite attitude estimation,
and working/standby modes; the first FPGA module is adapted to
communicate with a processor in the satellite image processing
device, monitor an operation state of the satellite image
processing device, send operation state information of the
satellite image processing device to the master control management
module, receive a task assignment command issued by the master
control management module, and transmit the task assignment command
to the satellite image processing device; the second FPGA module is
adapted to determine positions of stars in an image, and send the
positions of the stars in the image to the master control
management module, so that the master control management module
determines a visual axis pointing direction of a sensor in the
image processing device, according to the positions of the stars in
the image; and the master control management module is further
adapted to determine priorities of the tasks, and to design a
communication interface and a communication protocol suitable for a
satellite environment.
2. The system of claim 1, wherein the master control management
module comprises: a first sending module, which is adapted to send
the operation state information of the satellite image processing
device to the housekeeping computer; a second receiving module,
which is adapted to receive and parse a command of the housekeeping
computer; a second sending module, which is adapted to issue a task
assignment command down to the satellite image processing device
via the first FPGA module, so that the processor in the satellite
image processing device executes a task corresponding to the task
assignment command; a temporal phase and region determination
module, which is adapted to perform region division and temporal
phase determination according to geometric positional relationships
among sun, earth and the satellite; a third sending module, which
is adapted to send a region division and temporal phase
determination result to the satellite image processing device via
the first FPGA module, so that the satellite image processing
device determines a target image filtering algorithm based on the
region division and temporal phase determination result; a
satellite attitude determination module, which is adapted to
determine a visual axis pointing direction of the sensor in the
image processing device by means of a QUEST algorithm, based on the
received positions of the stars in the image sent by the second
FPGA module as well as the target image filtering algorithm; a
fault-tolerance processing module, which is adapted to design a
redundant structure of a register, and enable a watchdog to
generate an external signal for each time of underflow to reset the
master control management module systematically when the master
control management module is not under control, where, the register
adopts a triple-module redundancy structure, and data in partial
register file of a memory unit adopt EDAC protection by using
Hamming code; and an operation-mode determination module, which is
adapted to calculate a height of an orbit according to position
information of the satellite and earth, to determine a
working/standby mode.
3. The system of claim 2, wherein the satellite attitude
determination module comprises: a third receiving module, which is
adapted to receive position information of the stars in the image
sent by the second FPGA module; a reading module, which is adapted
to read true position information of the stars in the image, from a
star catalog library in a memory; an angular distance matching
module, which is adapted to match the stars in the image with stars
having true positions, to find three stars that meet certain
conditions; and a visual axis pointing direction determination
unit, which is adapted to determine a visual axis pointing
direction of the sensor of the satellite image processing device,
by means of a QUEST algorithm, by utilizing the three stars.
4. The system of claim 3, wherein the master control management
module is further adapted to send a switching command to the
remote-sensing satellite image processing device via the first FPGA
module when an abnormality occurs in the operation state of the
remote-sensing satellite image processing device.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation-in-part of International
Patent Application No. PCT/CN2017/077098 with an international
filing date of Mar. 17, 2017, designating the United States, now
pending, and further claims foreign priority benefits to Chinese
Patent Application No. 201611268699.5 filed Dec. 31, 2016. The
contents of all of the aforementioned applications, including any
intervening amendments thereto, are incorporated herein by
reference. Inquiries from the public to applicants or assignees
concerning this document or the related applications should be
directed to: Matthias Scholl P.C., Attn.: Dr. Matthias Scholl Esq.,
245 First Street, 18th Floor, Cambridge, Mass. 02142.
BACKGROUND
[0002] The disclosure relates to a master control system for a
remote-sensing satellite image processing device.
[0003] The tasks of a remote-sensing satellite image processing
device are numerous and complex. Hence, there is a need to develop
a control system that supervises the satellite image processing
device and performs the tasks of planning and scheduling.
SUMMARY
[0004] The disclosure provides a master control system for a
remote-sensing satellite image processing device. The system
employs a CPU+2 Field Programmable Gate Array (FPGA) frame, where
an embedded real-time operating system is transplanted to the CPU
to serve as a master control management module for accomplishing
state supervision and task scheduling of the remote-sensing
satellite image processing device.
[0005] The FPGAs are used for image pre-processing and
communication information integration and assignment, thus
achieving a real-time, low-delay processing of data.
[0006] Disclosed is a master control system for a remote-sensing
satellite image processing device, the system comprising: a master
control management module, a first FPGA module, and a second FPGA
module.
[0007] The master control management module is in connection and
communication with the first FPGA module, the second FPGA module,
and a housekeeping computer; the first FPGA module is in connection
and communication with the second FPGA module and a remote-sensing
satellite image processing device.
[0008] The master control management module is adapted to perform
assignment of tasks, the tasks comprising state monitoring of the
remote-sensing satellite image processing device, state feedback of
the remote-sensing satellite image processing device, command
receiving and parsing, fault-tolerance emergency processing, region
division and temporal phase determination, satellite attitude
estimation, and working/standby modes.
[0009] The first FPGA module is adapted to communicate with a
processor in the satellite image processing device, monitor an
operation state of the satellite image processing device, send the
operation state information of the satellite image processing
device to the master control management module, receive a task
assignment command issued by the master control management module
after the master control management module parses commands of the
housekeeping computer, and transmit the task assignment command to
the satellite image processing device, to control the processor in
the satellite image processing device to execute a task
corresponding to the task assignment commands.
[0010] The second FPGA module is adapted to perform star
segmentation and marking on a photographed image with stars, to
determine positions of the stars in the image, and send the
positions of the stars in the image to the master control
management module, so that the master control management module
determines a visual axis pointing direction of a sensor in the
image processing device, according to the positions of the stars in
the image.
[0011] The master control management module is further adapted to
determine priorities of the tasks, and to design a communication
interface and a communication protocol suitable for a satellite
environment.
[0012] The master control management module comprises:
[0013] a first receiving module, which is adapted to receive the
operation state information of the satellite image processing
device that is sent by the first FPGA module;
[0014] a first sending module, which is adapted to send the
operation state information of the satellite image processing
device to the housekeeping computer;
[0015] a second receiving module, which is adapted to receive and
parse a command of the housekeeping computer;
[0016] a second sending module, which is adapted to, after parsing
the command of the housekeeping computer, issue a task assignment
command down to the satellite image processing device via the first
FPGA module, so that the processor in the satellite image
processing device executes a task corresponding to the task
assignment command;
[0017] a temporal phase and region determination module, which is
adapted to perform region division and temporal phase determination
according to geometric positional relationships among sun, earth
and the satellite;
[0018] a third sending module, which is adapted to send the region
division and temporal phase determination result to the satellite
image processing device via the first FPGA module, so that the
satellite image processing device determines a target image
filtering algorithm based on the region division and temporal phase
determination result;
[0019] a satellite attitude determination module, which is adapted
to determine a visual axis pointing direction of the sensor in the
image processing device by means of a QUEST algorithm, based on the
received positions of the stars in the image sent by the second
FPGA module as well as the target image filtering algorithm;
[0020] a fault-tolerance processing module, which is adapted to
design a redundant structure of a register, and enable a watchdog
to generate an external signal for each time of underflow to reset
the master control management module systematically when the master
control management module is not under control, where, the register
adopts a triple-module redundancy structure, and data in partial
register file of a memory unit adopt EDAC protection by using
Hamming code; and
[0021] an operation-mode determination module, which is adapted to
calculate height of an orbit according to position information of
the satellite and earth, to determine a working/standby mode.
[0022] The satellite attitude determination module can
comprise:
[0023] a third receiving module, which is adapted to receive
position information of the stars in the image sent by the second
FPGA module;
[0024] a reading module, which is adapted to read true position
information of the stars in the image, from a star catalog library
in a memory;
[0025] an angular distance matching module, which is adapted to
match the stars in the image with stars having true positions, to
find three stars that meet certain conditions; and
[0026] a visual axis pointing direction determination unit, which
is adapted to determine a visual axis pointing direction of the
sensor of the satellite image processing device, by means of a
QUEST algorithm, by utilizing the three stars meeting certain
conditions.
[0027] The master control management module is further adapted to
send a switching command to the remote-sensing satellite image
processing device via the first FPGA module when an abnormality
occurs in the operation state of the remote-sensing satellite image
processing device, so as to allow the remote-sensing satellite
image processing device to be switched to a backup machine for
operation.
[0028] Advantages of the master control system for a remote-sensing
satellite image processing device according to embodiments of the
disclosure are summarized as follows:
[0029] (1) the master control system can monitor, control and
manage a remote-sensing satellite image processing device, so that
the tasks of the remote-sensing satellite image processing device
can be completed in orbit safely and reliably; and
[0030] (2) the master control system can process data of
large-scale remote-sensing images quickly and efficiently.
BRIEF DESCRIPTION OF THE DRAWINGS
[0031] FIG. 1 is a schematic diagram of a master control system for
a remote-sensing satellite image processing device according to one
embodiment of the disclosure;
[0032] FIG. 2 is a schematic diagram of a master control management
module of a master control system according to one embodiment of
the disclosure;
[0033] FIG. 3 is a schematic diagram of a window register of a
master control management module of a master control system
according to one embodiment of the disclosure;
[0034] FIG. 4 is a schematic diagram showing a working segment of a
remote-sensing satellite image processing device according to one
embodiment of the disclosure;
[0035] FIG. 5 is a simulation diagram of a deep space region of the
earth; and
[0036] FIG. 6 is a structural diagram showing kernel architecture
of an operating system of a master control management module
according to one embodiment of the disclosure.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0037] To further illustrate, embodiments detailing a master
control system for a remote-sensing satellite image processing
device are described below. It should be noted that the following
embodiments are intended to describe and not to limit the
disclosure.
[0038] The master control system is defined functionally as a
supervisor on a satellite image processing device, and its primary
function is to monitor the state of the satellite image processing
device and implement task scheduling, to ensure normal operation of
the entire satellite image processing device, and also responsible
for coordinating interaction of information and data between the
satellite image processing device and a housekeeping computer. In
addition, it is also required to accomplish corresponding image
processing work according to task requirements.
[0039] As shown in FIG. 1, a schematic diagram of the master
control system for a remote-sensing satellite image processing
device. The system comprises: a master control management module, a
first FPGA module, and a second FPGA module.
[0040] The master control management module is in connection and
communication with the first FPGA module, the second FPGA module
and the housekeeping computer; the first FPGA module is in
connection and communication with the second FPGA module and the
satellite image processing device
[0041] An embedded real-time operating system is transplanted into
a CPU to serve as the master control management module, and the
satellite image processing device represents the device used for
image processing on the satellite.
[0042] The master control management module is adapted to perform
appropriate assignment of tasks according to task requirements. The
tasks comprise state monitoring of the remote-sensing satellite
image processing device, state feedback of the remote-sensing
satellite image processing device, command receiving and parsing,
fault-tolerance emergency processing, region division and temporal
phase determination, satellite attitude estimation, and
working/standby modes.
[0043] The precise and proper assignment of the tasks will not only
simplify the software design, but also enhance stability and
robustness of the system, and also will make software debugging and
error elimination easier. The main tasks of the system are:
monitoring a state of the satellite image processing device,
feeding back the state information of the satellite image
processing device to the housekeeping computer, receiving a command
of the housekeeping computer and accomplishing a corresponding
function, temporal phase and region determination, satellite
attitude estimation, fault-tolerance emergency processing, and a
standby operation mode, etc.
[0044] The first FPGA module is adapted to communicate with a
processor in the satellite image processing device, monitor an
operation state of the satellite image processing device, send the
operation state information of the satellite image processing
device to the master control management module, receive a task
assignment command issued by the master control management module
after the master control management module parses commands of the
housekeeping computer, and transmit the task assignment command to
the satellite image processing device, to control the processor in
the satellite image processing device to execute a task
corresponding to the task assignment command.
[0045] The second FPGA module is adapted to perform star
segmentation and marking on a photographed image with stars present
therein, to determine positions of the stars in the image, and send
the positions of the stars in the image to the master control
management module, so that the master control management module
determines a visual axis pointing direction of a sensor in the
image processing device, according to the positions of the stars in
the image.
[0046] The master control management module is further adapted to
determine priorities of the divided tasks, and to design a
communication interface and a communication protocol suitable for a
satellite environment.
[0047] On the basis of the transplanted embedded real-time
operating system, priorities of the tasks can be determined. As
shown in FIG. 6, FIG. 6 is a structural diagram showing kernel
architecture of an operating system of the master control
management module. Specifically, the master control management
module shown in FIG. 6 adopts a .mu.COS-II embedded real-time
operating system, and .mu.COS-II can manage up to 64 tasks,
corresponding to priority levels 0-63 respectively, where, 0
represents the highest priority, 63 represents the lowest priority
and has been occupied by the system and cannot be used by a user.
Proper setting of task priorities can not only ensure correctness
of task scheduling, but also can provide better guarantee for
real-time property of the system. A basic principle for task
priority setting is to determine according to importance of tasks,
sequence of synchronization of tasks, as well as execution time.
Thus, based on the above determination criteria, priorities of the
above-mentioned tasks can be determined, in the order from high to
low, as follows: state monitoring of the remote-sensing satellite
image processing device, state feedback of the remote-sensing
satellite image processing device, command receiving and parsing,
fault-tolerance emergency processing, temporal phase and region
determination, satellite attitude estimation, working/standby
modes.
[0048] Because the satellite image processing device needs to
communicate and interact with the housekeeping computer, and the
processors on the satellite image processing device also need
communicate with each other, plus that the satellite environment is
complex, there is thus a need to design a safe and reliable
communication protocol for dealing with the satellite environment.
The design must not only take into account comprehensiveness of the
communication protocol, but also consider fault-tolerance and
security of the communication protocol. In this example, a
transmission protocol based on a fixed length is adopted, which is
composed of a protocol header, protocol content, a protocol tail,
and checksum information.
[0049] The master control management module comprises: [0050] a
first receiving module, which is adapted to receive the operation
state information of the satellite image processing device that is
sent by the first FPGA module; [0051] a first sending module, which
is adapted to send the operation state information of the satellite
image processing device to the housekeeping computer; [0052] a
second receiving module, which is adapted to receive and parse a
command of the housekeeping computer; [0053] a second sending
module, which is adapted to, after parsing the command of the
housekeeping computer, issue a task assignment command down to the
satellite image processing device via the first FPGA module, so
that the processor in the satellite image processing device
executes a task corresponding to the task assignment command;
[0054] a temporal phase and region determination module, which is
adapted to perform region division and temporal phase determination
according to geometric positional relationships among sun, earth
and the satellite; [0055] a third sending module, which is adapted
to send the region division and temporal phase determination result
to the satellite image processing device via the first FPGA module,
so that the satellite image processing device determines a target
image filtering algorithm based on the region division and temporal
phase determination result; differences in regions and seasons, as
well as in days and nights, cause differences of background
radiation measurement of imaging sensors of the satellite image
processing device, there is thus a need to adopt different
filtering algorithms for images; the master control management
module can, based on geometric positional relationships among sun,
earth and the satellite, flexibly calculate required parameters and
rapidly perform region division and temporal phase determination,
thus determining the image filtering algorithms, as shown in FIG.
5, FIG. 5 is a simulation diagram of a deep space region of earth
in implementation of region division; [0056] a satellite attitude
determination module, which is adapted to determine a visual axis
pointing direction of the sensor in the image processing device by
means of a QUEST algorithm, based on the received positions of the
stars in the image sent by the second FPGA module as well as the
target image filtering algorithm; [0057] a fault-tolerance
processing module, which is adapted to design a redundant structure
of a register, and enable a watchdog to generate an external signal
for each time of underflow to reset the master control management
module when the master control management module is not under
control, where, the register adopts a triple-module redundancy
structure, and data in partial register file of a memory unit adopt
EDAC protection by using Hamming code; [0058] an operation-mode
determination module, which is adapted to calculate height of an
orbit according to position information of the satellite and earth,
to determine a working/standby mode.
[0059] The orbit of the satellite image processing device is
divided into a working segment and a resting segment according to
different orbiting height, and the distance between the satellite
and earth is calculated based on positional relationships between
the satellite and earth. When the satellite image processing device
locates in the working segment, the master control system is in a
normal working state; when the satellite image processing device
locates in the resting segment, it can be switched to a standby
operation mode by writing an arbitrary value into a Power-down
register, as shown in FIG. 4, FIG. 4 is a schematic diagram showing
a working segment of the remote-sensing satellite image processing
device.
[0060] The satellite attitude determination module comprises:
[0061] a third receiving module, which is adapted to receive
position information of the stars in the image sent by the second
FPGA module; [0062] a reading module, which is adapted to read true
position information of the stars in the image, from a star catalog
library in a memory; [0063] an angular distance matching module,
which is adapted to match the stars in the image with stars having
true positions, to find three stars that meet certain conditions;
and [0064] a visual axis pointing direction determination unit,
which is adapted to determine a visual axis pointing direction of
the sensor of the satellite image processing device, by means of a
QUEST algorithm, by utilizing the three stars meeting certain
conditions.
[0065] The master control management module is further adapted to
send a switching command to the remote-sensing satellite image
processing device via the first FPGA module when an abnormality
occurs in the operation state of the remote-sensing satellite image
processing device, so as to allow the remote-sensing satellite
image processing device to be switched to a backup machine for
operation.
[0066] The remote-sensing satellite image processing device may
adopt a dual-machine hot backup operation mode; under normal
circumstances, one machine works, while the other machine acts as a
backup machine. When the master control management module monitors
that an abnormality occurs in the state of the satellite image
processing device, it can switch to the backup machine to take over
the work of the faulty machine to ensure continuity of the system
operation. In addition, the fault-tolerance design of the master
control management module itself comprises two parts: all registers
adopt a triple-module redundancy structure; and data in partial
register file of a memory unit adopt EDAC (Error Detection and
Correction) protection by using Hamming code, which can detect
multi-bit errors and correct one-bit errors. As shown in FIG. 3,
FIG. 3 is a schematic diagram of a window register of the master
control management module in the master control system disclosed in
the embodiment of the disclosure. In addition, when the master
control management module is not under control, the watchdog will
be enabled to generate an external signal for each time of
underflow to reset the master control management module
systematically, as shown in FIG. 2, FIG. 2 is a schematic diagram
of the master control management module in the master control
system disclosed in the embodiment of the disclosure. FIG. 2 and
FIG. 3 show an optional CPU-BM3803MG used for the master control
management module; BM3803MG is a domestic 32-bit RISC embedded
processor based on SPARC V8 architecture, and can be used for an
on-board embedded real-time computer system, and can meet functions
and performance requirements of various aerospace applications,
furthermore, by adding a memory and an application-related
peripheral circuit to it, a complete single-board computer system
can thus be constituted.
[0067] It will be obvious to those skilled in the art that changes
and modifications may be made, and therefore, the aim in the
appended claims is to cover all such changes and modifications.
* * * * *